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<div class="title">Lagrange.hpp</div>  </div>
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<a href="_lagrange_8hpp.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*  Copyright (C) 2012  Claude Richard</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *  This program is free software: you can redistribute it and/or modify</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  it under the terms of the GNU General Public License as published by</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  the Free Software Foundation, either version 3 of the License, or</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *  (at your option) any later version.</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *  This program is distributed in the hope that it will be useful,</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  but WITHOUT ANY WARRANTY; without even the implied warranty of</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  GNU General Public License for more details.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *  You should have received a copy of the GNU General Public License</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *  along with this program.  If not, see &lt;http://www.gnu.org/licenses/&gt;.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_algebra_8hpp.html">Algebra.hpp</a>&quot;</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_bezier_8hpp.html">Bezier.hpp</a>&quot;</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="preprocessor">#include &quot;<a class="code" href="_system_8hpp.html">System.hpp</a>&quot;</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="keyword">namespace </span>Lagrange {</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">// These are used for LagrangianRacerWrapper</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a83819a496fb3601b3cdfc6db0c1a96b4">   26</a></span>&#160;<span class="preprocessor">    #define RACER_MASS_DEFAULT 1.0</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a733e325256d638c9554acb3d5583af06">   27</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_RADIUS_DEFAULT 1.0</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a9e886b3f0a9a66293af296a0ec3a7ed9">   28</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_LENGTH 1.0</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a812e9cfc997a87fa89708b648756802f">   29</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_FORWARD_FORCE 25.0</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a55e86b41d0e87587ddc2f14846545a00">   30</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_SKID_FORCE 100.0</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#ab6b9dad7be81afd462cfef2735ccdd71">   31</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_TORQUE_FACTOR 1.0 // Torque = leftforce*factor*radius</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a80f208cc27cb464a2a7be129ad9a8a03">   32</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_XDOT_MAX 10.0</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#ab5fe18ab41a36131fa041920097cff6b">   33</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_YDOT_MAX 10.0</span></div>
<div class="line"><a name="l00034"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a422954246e423119da6d0526381e092d">   34</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_ZDOT_MAX 10.0</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a48143cbbb53daf7567c1b50743acdb7f">   35</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_THETADOT_MAX 10.0</span></div>
<div class="line"><a name="l00036"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#abdb73d0edfe132997833b2dd1e4dcf1a">   36</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define RACER_PHIDOT_MAX 10.0</span></div>
<div class="line"><a name="l00037"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#acdb0790a007581c94370b1bbfc6e43a9">   37</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define FLYER_ZCDOT_MAX 10.0</span></div>
<div class="line"><a name="l00038"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#a2ab6789803f6eb2a37ef8a26c6bf2021">   38</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define FLYER_THETADOT_MAX 10.0</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"><a class="code" href="_lagrange_8hpp.html#aa37652d38d62caefaf8fa19b687ff76f">   39</a></span>&#160;<span class="preprocessor"></span><span class="preprocessor">    #define FLYER_PHIDOT_MAX 10.0</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor"></span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;    <span class="comment">// TODO: use LagrangianModel as a base class for the racing and flying model</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;    <span class="comment">//class LagrangianModel</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;    <span class="comment">//{</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;    <span class="comment">//  // Returns A and b and Q such that</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;    <span class="comment">//  // A*Xdotdot + b = Q</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;    <span class="comment">//  virtual MatrixMxN getA() const = 0;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;    <span class="comment">//  virtual VectorND getB() const = 0;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">//  virtual VectorND getQ() const = 0;</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">//  // Returns positions of objects as functions of generalized coordinates</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="comment">//  VectorFunction getCenterOfMassPositionFunction( int obji ) const;</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="comment">//  VectorFunction getEulerAnglesFunction( int obji ) const;</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">//  // After doing one timestep, do this.</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="comment">//  virtual void adjustAfterStep();</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="comment">//  // Generalized coordinates</span></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="comment">//  VectorND getGeneralizedPosition() const;</span></div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="comment">//  VectorND getGeneralizedVelocity() const;</span></div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="comment">//  VectorND getGeneralizedAcceleration() const; // compute using A*Xdotdot+b=Q</span></div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="comment">//  // Get properties of each object</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    <span class="comment">//  double getMass( int obji ) const;</span></div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="comment">//  Matrix3x3 getMomentOfInertiaTensorModel( int obji ) const;</span></div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="comment">//  Matrix3x3 getMomentOfInertiaTensorWorld( int obji ) const;</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;    <span class="comment">//  Vector3D getCenterOfMassPosition( int obji ) const;</span></div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="comment">//  Vector3D getEulerAnglesPosition( int obji ) const;</span></div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    <span class="comment">//  Vector3D getCenterOfMassVelocity( int obji ) const;</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    <span class="comment">//  Vector3D getEulerAnglesVelocity( int obji ) const;</span></div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="comment">//  // Set forces, which will set Q</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    <span class="comment">//  void clearForces();</span></div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    <span class="comment">//  void setForceWorld( int obji, const Vector3D&amp; force );</span></div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="comment">//  void setForceModel( int obji, const Vector3D&amp; force );</span></div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    <span class="comment">//  void setTorqueModel( int obji, const Vector3D&amp; torque );</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">//  void setTorqueWorld( int obji, const Vector3D&amp; torque );</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="comment">//  void addForceWorld( int obji, const Vector3D&amp; force );</span></div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">//  void addForceModel( int obji, const Vector3D&amp; force );</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">//  void addTorqueModel( int obji, const Vector3D&amp; torque );</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">//  void addTorqueWorld( int obji, const Vector3D&amp; torque );</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">//  // Apply an impulse such that afterwards, Xdot.dot(N)=0</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">//  void applyConstraintImpulse( const VectorND&amp; N ); // use stored Q for direction of impulse</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="comment">//  void applyConstraintImpulse( const VectorND&amp; N, const Vector3D&amp; Q );</span></div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="comment">//  // Step</span></div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;    <span class="comment">//  void step( double seconds );</span></div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="comment">//  void step( double totalSeconds, int numIterations ); // do numIterations timesteps</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">//protected:</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="comment">//  int             mNumObjects;</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    <span class="comment">//  VectorFunction* mCenterOfMassPositionFunctions;</span></div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    <span class="comment">//  VectorFunction* mEulerAnglesFunctions;</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    <span class="comment">//  VectorND        mGeneralizedPosition;</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;    <span class="comment">//  VectorND        mGeneralizedVelocity;</span></div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="comment">//};</span></div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;</div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="code" href="class_lagrange_1_1_lagrangian_coordinates.html">   92</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_lagrange_1_1_lagrangian_coordinates.html">LagrangianCoordinates</a></div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_coordinates.html#ab638b2f6e4e59bdd5e93bfa8c9eae9b4">LagrangianCoordinates</a>( <span class="keywordtype">int</span> n );</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_coordinates.html#a70e1868a6825dbaddcebf5cf0c1b6b30">~LagrangianCoordinates</a>();</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    };</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div>
<div class="line"><a name="l00100"></a><span class="lineno"><a class="code" href="class_lagrange_1_1_lagrangian_object.html">  100</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_lagrange_1_1_lagrangian_object.html">LagrangianObject</a></div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    {</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a4d3e40326aa8904ef0f6df757d0ffa36">LagrangianObject</a>();</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a7b8af43209f370fa73e9ef80315decd2">~LagrangianObject</a>();</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        <span class="comment">// Get the position and Euler angles</span></div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a492e12e6f8d293c133469b9dad0cf12c">getX</a>();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a7909222d7950aadb3ad245e93f561284">getY</a>();</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#aec714f96a67ced912894f185b8d6b467">getZ</a>();</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#aa5d4da3f10ddc6e0030ab9c498da5af4">getAlpha</a>();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a25d5a657520a100f3d8a1cf01343ad08">getBeta</a>();</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_object.html#a8a439494a8efe728068f39e39f21a5b6">getGamma</a>();</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="comment">// Compute the velocity</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;    };</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;</div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="code" href="class_lagrange_1_1_lagrangian_racer_system.html">  118</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_lagrange_1_1_lagrangian_racer_system.html">LagrangianRacerSystem</a> : <span class="keyword">public</span> <a class="code" href="class_system.html" title="A physical system in Lagrangian Mechanics, which uses generalized coordinates.">System</a></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_racer_system.html">LagrangianRacerSystem</a>();</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;        <a class="code" href="struct_matrix1_vector1.html" title="This struct holds one MatrixMxN and one VectorND.">Matrix1Vector1</a> computeAB(</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            <span class="keyword">const</span> <a class="code" href="class_vector_n_d.html">VectorND</a>&amp; generalizedPosition, <span class="keyword">const</span> <a class="code" href="class_vector_n_d.html">VectorND</a>&amp; generalizedVelocity );</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    };</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;</div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="code" href="class_lagrange_1_1_lagrangian_racer.html">  126</a></span>&#160;    <span class="keyword">class </span><a class="code" href="class_lagrange_1_1_lagrangian_racer.html">LagrangianRacer</a></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    {</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ae92c8f69443f3674b7e769693de16635">LagrangianRacer</a>( <span class="keyword">const</span> <a class="code" href="class_bezier_patch_grid.html">BezierPatchGrid</a>* bezierPatchGrid,</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;                         <span class="keywordtype">double</span> gravity, <span class="keywordtype">double</span> length, <span class="keywordtype">double</span> massBottom, <span class="keywordtype">double</span> massTop,</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;                         <span class="keywordtype">double</span> IBottom, <span class="keywordtype">double</span> ITopX, <span class="keywordtype">double</span> ITopY, <span class="keywordtype">double</span> ITopZ,</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;                         <span class="keywordtype">double</span> xdotmax, <span class="keywordtype">double</span> ydotmax, <span class="keywordtype">double</span> zdotmax, <span class="keywordtype">double</span> thetadotmax, <span class="keywordtype">double</span> phidotmax,</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;                         <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> theta, <span class="keywordtype">double</span> phi,</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;                         <span class="keywordtype">double</span> xdot, <span class="keywordtype">double</span> ydot, <span class="keywordtype">double</span> thetadot, <span class="keywordtype">double</span> phidot );</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#afb798998c0432ca5cf2654e97e57c7eb">~LagrangianRacer</a>();</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;        <a class="code" href="class_lagrange_1_1_lagrangian_racer.html">LagrangianRacer</a>* <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a92f67f8a32e94105f10f20c9910e9bab">create</a>( <span class="keyword">const</span> <a class="code" href="class_bezier_patch_grid.html">BezierPatchGrid</a>* bezierPatchGrid, <span class="keywordtype">double</span> gravity, <span class="keywordtype">double</span> size,</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;                         <span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y, <span class="keywordtype">double</span> theta, <span class="keywordtype">double</span> phi,</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;                         <span class="keywordtype">double</span> xdot, <span class="keywordtype">double</span> ydot, <span class="keywordtype">double</span> thetadot, <span class="keywordtype">double</span> phidot );</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="comment">// Get methods</span></div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="comment">//   floor grid</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        <span class="keyword">const</span> <a class="code" href="class_bezier_patch_grid.html">BezierPatchGrid</a>* <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a4145112e6b98ed5fe2e074c16c33267b">getBezierPatchGrid</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;        <span class="comment">//   parameters</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ab65063aa5eaa49d85b9b10fe9f4b5208">getGravity</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a321343be8922996016777cd6ecb566a9">getLength</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a3ba71f2ce0d789f86921f293cbf22294">getMassBottom</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a09dd99ca786308a18fb1d245ecbbbfd0">getMassTop</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a04ad64e40b927f28d96d7bb458c68e4b">getIBottom</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a30894c02d07bc862496cc9554b1a16e2">getITopX</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#aa8d89ff48c8a7bf3def041f9dd539901">getITopY</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#abd471e7837c867c0f6f16b47a4cd3d14">getITopZ</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        <span class="comment">//   state</span></div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a79220d9bc1c5b6f32d5cafe69dcf050b">getX</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a563536fe789d0283b9fc82f3a5b6a9ff">getY</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a8cf4e66e33ac4cffdca6e7f0f1b14e61">getZ</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a4ad3d8b75a18350919469dc7165ea4dd">getTheta</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ae4a0f8ebfcc28911cde0233567d19cc1">getPhi</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a1bbbf1c37947a5414f047555bf375ec1">getXDot</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a0f9b25e09ddef578e644a920d7064d9f">getYDot</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a490a9e8912b1299c92b6e2daec17c9b0">getZDot</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ae84b2dde39fbe737bdb9d3401e9d23f9">getThetaDot</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        <span class="keywordtype">double</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a58963b1269a427232451a17ec9485c1c">getPhiDot</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <a class="code" href="class_vector3_d.html">Vector3D</a> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#aafd2da89d986b558ce77bc3f572c34dc">getBottomPosition</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <a class="code" href="class_vector3_d.html">Vector3D</a> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ace39268853f7088cc984ea72b78d63c7">getTopPosition</a>() <span class="keyword">const</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        <span class="comment">// Set forces</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ad54dda570366844b036db2fea60120c4">clearForces</a>();</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a972b438060163d865de9e3d52714a995">setForceBottomWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a353eb3b9f1cefe5b09bfebf75cf09587">setForceTopWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#abe7a4e8d86ac16426c393abe85f58b6f">setForceBottomModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a9590ef3a0d4ef15af3fffbefc3ff1ecf">setForceTopModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ade76dfca80d5084c25efb884d271080e">setTorqueBottomModelZ</a>( <span class="keywordtype">double</span> torque ); <span class="comment">// torque is the z-value of torque vector</span></div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a5e1e87c22da38dffd72eb2f1c2a3a748">setTorqueBottomModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#ae7dd23c80c9708efc7eb57d8ba88bfab">setTorqueTopModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a29249707fa1a0be9c433a74e043d4294">setTorqueTopWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#aa9366243d714865b601d81d10f4e6dce">addForceBottomWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a853814ef5e85ed91b5d21285f45f3483">addForceTopWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a7aaf93c05924f525995d837a16d23a28">addForceBottomModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a19901db0943f63fae28667b751bb1bf4">addForceTopModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; force );</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a28b28f9259ce4cbaf6ebd5b056c61c8f">addTorqueBottomModelZ</a>( <span class="keywordtype">double</span> torque ); <span class="comment">// torque is the z-value of torque vector</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a3dc8d7072a7370907e1b82efd50a6b58">addTorqueBottomModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a1ac741a8d3a369c3a62c487a7ae79d7a">addTorqueTopModel</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a8fff6f5f11dc051c712c924f43251dfe">addTorqueTopWorld</a>( <span class="keyword">const</span> <a class="code" href="class_vector3_d.html">Vector3D</a>&amp; torque );</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;        <span class="comment">// Compute the next timestep.</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#addb45d891a16d0b839be8d10f2fcd557">stepRacing</a>( <span class="keywordtype">double</span> seconds );</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a53288dff55d60e9bce9564e5e30b6652">stepFlying</a>( <span class="keywordtype">double</span> seconds );</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordtype">void</span> <a class="code" href="class_lagrange_1_1_lagrangian_racer.html#a1d34f95637932a0402e90aef7b4d7d64">land</a>();</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;        <span class="keyword">const</span> <a class="code" href="class_bezier_patch_grid.html">BezierPatchGrid</a>* mBezierPatchGrid;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="comment">// parameters</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">double</span> mGravity;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        <span class="keywordtype">double</span> mLength;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keywordtype">double</span> mMassBottom;</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        <span class="keywordtype">double</span> mMassTop;</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <span class="keywordtype">double</span> mIBottom;</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">double</span> mITopX;</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;        <span class="keywordtype">double</span> mITopY;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;        <span class="keywordtype">double</span> mITopZ;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;        <span class="comment">// max velocity</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        <span class="keywordtype">double</span> mXDotMax;</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="keywordtype">double</span> mYDotMax;</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordtype">double</span> mZDotMax;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordtype">double</span> mThetaDotMax;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        <span class="keywordtype">double</span> mPhiDotMax;</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;        <span class="comment">// convenient values</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;        <span class="keywordtype">double</span> mAlpha; <span class="comment">// 2 masses added together</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        <span class="keywordtype">double</span> mBeta; <span class="comment">// mt*l^2 + I1</span></div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        <span class="keywordtype">double</span> mGamma; <span class="comment">// mt*l^2 + I2</span></div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        <span class="keywordtype">double</span> mDelta; <span class="comment">// mt*l</span></div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordtype">double</span> mEpsilon; <span class="comment">// mt*l^2 + I1 - I3</span></div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        <span class="keywordtype">double</span> mLength1;</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordtype">double</span> mLength2;</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;        <span class="keywordtype">double</span> mZeta; <span class="comment">// m1*l1^2 + m2*l2^2 + Ix</span></div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        <span class="keywordtype">double</span> mEta; <span class="comment">// m1*l1^2 + m2*l2^2 + Ix - Iz</span></div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        <span class="keywordtype">double</span> mIota; <span class="comment">// (m1*l1^2 + m2*l2^2 + Ix - Iz) / (m1*l1^2 + m2*l2^2 + ITopY)</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        <span class="comment">// state</span></div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordtype">double</span> mX;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;        <span class="keywordtype">double</span> mY;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;        <span class="keywordtype">double</span> mZ;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;        <span class="keywordtype">double</span> mTheta;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        <span class="keywordtype">double</span> mPhi;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        <span class="keywordtype">double</span> mXDot;</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">double</span> mYDot;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">double</span> mZDot;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordtype">double</span> mThetaDot;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;        <span class="keywordtype">double</span> mPhiDot;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        <span class="comment">// Forces</span></div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        <a class="code" href="class_vector3_d.html">Vector3D</a> mForceBottomWorld;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <a class="code" href="class_vector3_d.html">Vector3D</a> mForceTopWorld;</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        <span class="keywordtype">double</span> mTorqueBottomModelZ;</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <a class="code" href="class_vector3_d.html">Vector3D</a> mTorqueTopModel;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    };</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;}</div>
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